On Controlling the Transient Response of Linear Time Invariant Systems with Fixed Structure Controllers
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The problem of controlling transient response is important in many industrial applications; for example, the speed and accuracy of motion control of robots directly relates to the productivity of the robot. The objective of transient control is to determine a feedback controller of a fixed structure that renders the closed loop response of a specified system to lie in a specified envelope. One may associate a set of errors which measures the deviation of the response from the envelope. The set of errors may be defined in such a way that all the errors are non-negative if and only if the response does not deviate from the envelope at any time. The transient problem can be thus posed as the problem of determining a stabilizing controller that renders the set of all errors to be non-negative at every time. One may associate a control parameter vector K with a controller of a specified structure. The main topic of investigation of this paper is to find a bound for the set of real control parameters, K, so that a rational, proper transfer function, N(s, K)/D(s, K) has a decaying, non-negative impulse response. It is assumed that the coefficients of the polynomials N(s, k) and D(s, K) are affine in K. © 2012 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society.
author list (cited authors)
Malik, W. A., Darbha, S., & Bhattacharyya, S. P.